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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Fan-Tien Cheng Tsing-Hua Chen York-Yin Sun |
| Copyright Year | 1992 |
| Description | Author affiliation: Electron. Div., Chung Shan Ins. Sci. Tech., Lung-Tan, Taiwan (Fan-Tien Cheng) |
| Abstract | Due to hardware limitations, physical constraints, such as joint rate bounds and joint angle limits, always exist. In the present work, these constraints are included in the general formulation of the redundant inverse kinematic problem. To take into account these physical constraints, the computationally efficient compact QP (quadratic programming) method is derived to resolve the kinematic redundancy problem. In addition, the compact-inverse QP method is developed to remedy the singularity problem. The compact QP (compact and inverse QP) method makes use of the compact formulation to obtain the general solutions and to eliminate the equality constraints. As such, the variables are decomposed into basic and free variables, and the basic variables are expressed by the free variables. Thus, the problem size is reduced and it only requires an optimization algorithm, such as QP, for the free variables subject to pure inequality constraints. This approach will expedite the optimization process and make real-time implementation possible. |
| Starting Page | 508 |
| Ending Page | 513 |
| File Size | 495933 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818627204 |
| DOI | 10.1109/ROBOT.1992.220241 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1992-05-12 |
| Publisher Place | France |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Quadratic programming Kinematics Manipulators Optimization methods Sun Hardware Physics computing Constraint optimization Robotics and automation Manufacturing automation |
| Content Type | Text |
| Resource Type | Article |
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